SE513028C2

SE513028C2 - Method and apparatus for determining roll angle

Info

Publication number: SE513028C2
Application number: SE9803706A
Authority: SE
Inventors: Aake Hansen
Original assignee: Bofors Missiles Ab
Priority date: 1998-10-29
Filing date: 1998-10-29
Publication date: 2000-06-19
Also published as: ATE391279T1; US6572052B1; EP1125092A1; SE9803706L; EP1125092B1; WO2000026602A1; ES2301253T3; DE69938461T2; SE9803706D0; DE69938461D1

Abstract

A process for determining roll angle of a body launchable from a launcher. At least one inducing field is induced in the launchable body. A polarized carrier wave is transmitted from the launcher to the launchable body. The transmitted polarized carrier wave is detected in the launchable body with respect to rotation of the launchable body. The detected transmitted polarized carrier wave and the inducing field are analyzed to establish the roll angle as the launchable body leaves the launcher.

Description

LL.. H u.. 20 25 30 0282 i kroppens rotationshastiäghet efter utskjutningsögonblicket, riskerar dock den roterbara kroppen att mycket snai-t ha infort oacceptabel avvikelse i rollvinkeläge. LL .. H u .. 20 25 30 0282 in the rotational speed of the body after the moment of launch, however, the rotatable body risks very likely to have introduced unacceptable deviation in rolling angle position.

En annan anordning fo ' att bestämma rollvinkel är forut känd genom svenska patentet 465 794. I detta fall är en permanentmagnet anbringad i den utskjutbara kroppen som när kroppen skjuts ut utskjutningsanordningens utskjutningsrör inducerar ett fält i lindningar anbringade i'utskjutningsröret. Genom lämplig Signalbehandling kan rollvinkeln vid utskjut ngsögonblicket bestämmas. Information om denna rollvinkel och tid som forflutit efter utskjutningen tillfores via en kommunikationslänk den utskjutbara kroppen so hämr med hjälp av innefattad elektronik beräknar det aktuella rotationsläget. Under 'rutsättning att den utskjutbara kroppens rotationshastighet med god noggrannhet kan fprutses eller bestämmas under kroppens hela ﬂygforlopp fram till en eventuell korrigerin' stidpunkt, ger den kända anordningen möjlighet att beräkna rotationsläget med i n rmala fall acceptabel noggrannhet. Om emellertid den rotationshastighet som] används vid beräkning av ett rollvinkelläge avviker från den korrekta rotationshastil eten, kommer felet i rollvinkelläge, särskilt när lång tid forﬂutit eñer utskjutnitligen, att vara oacceptabelt.Another device for determining the roll angle is previously known from Swedish patent 465 794. In this case a permanent magnet is arranged in the extendable body which when the body is ejected the ejection tube of the ejection device induces a field in windings arranged in the ejection tube. By appropriate signal processing, the roll angle at the moment of firing can be determined. Information about this roll angle and time that has elapsed after the launch is supplied via a communication link to the extendable body, which, with the aid of included electronics, calculates the current rotational position. Assuming that the rotational speed of the extendable body can be accurately probed or determined during the entire course of the body up to a possible correction time, the known device makes it possible to calculate the rotational position with acceptable accuracy in some cases. However, if the rotational speed used in the calculation of a roll angle position deviates from the correct rotation speed style, the error in roll angle position, especially when a long time has elapsed or protruded, will be unacceptable.

I Ett ändamål med föreliggande uppﬁnning är att åstadkomma ett forfarande och en anordning som uppvisar stor noggrannhet utan att for den skull medföra stor komplexitet. Ett annat' ändamål är att åstadkomma enkel kommunikation mellan utskjutningsanordninggoch den utskjutbara kroppen. i Uppﬁnningsändarnåle uppnås genom ett forfarande kännetecknat av att for rollvinkelbestärnning lpprättas kommunikation mellan utskjutningsanordningen och den utskjutbara kroppen u der den utskjutbara kroppens färd genom utsändande av en polariserad bärvåg i a slutning till utskjutningsanordningen och att den utsända polariserade bärvågen detekteras i den utskjutbara kroppen med avseende på rotationsberoende, t en anordning kännetecknad av att en sändare är anordnad i anslutning till utskjutriingsanordningen for kommunikation med den utskjutbara kroppen genom utsändande av en polariserad bärvåg och att den utskjutbara kroppen innefattar en polarisatronsriktningskänslig mottagare vars polarisationsriktnings- känslighet är anordna? att folja den utskjutbara kroppens rotation. l 10 15 20 25 30 513 028 3 Genom att inrymma de magnetfältsavkärmande organen i den utskjutbara kroppen kan den utskjutbara kroppen självständigt hålla reda på sin rollvinkel baserat på vinkelläge vid utskjutningsögonblicket och räkning av minima i en bärvågssignal.An object of the present invention is to provide a method and a device which exhibit high accuracy without causing great complexity. Another object is to provide easy communication between the launching device and the extendable body. The winding end needle is achieved by a method characterized in that for roll angle determination communication between the launching device and the extendable body is effected during the travel of the extendable body by transmitting a polarized carrier close to the launching device and that the transmitted A device characterized in that a transmitter is arranged in connection with the launching device for communication with the extendable body by transmitting a polarized carrier and that the extendable body comprises a polarization direction-sensitive receiver whose polarization direction sensitivity is arranged? to follow the rotation of the extendable body. By accommodating the magnetic field shielding means in the extendable body, the extendable body can independently keep track of its roll angle based on the angular position at the moment of launch and the counting of minima in a carrier signal.

Enligt ett fördelaktigt forfarande bestäms den utskjutbara kroppens rollvinkel i utskjutningsögonblicket i den utskjutbara kroppen baserat på det eller de inducerade fälten, detekteras och räknas minima i den utsända polariserade bärvågen från utskjutningstidpunkten och startas en tidmätning vid utskjutningsögonblicket. Genom att hålla reda på rninima och koppla dessa till den utskjutbara kroppens rollvinkel då den lämnar utskjutningsanordningen erhålls en enkel lösning på entydighetsproblemet att skilja på O och n radianer.According to an advantageous method, the roll angle of the extendable body at the moment of launch in the extendable body is determined based on the induced field or fields, minima are detected and counted in the emitted polarized carrier from the time of launch and a time measurement is started at the moment of launch. By keeping track of the lines and connecting these to the roll angle of the extendable body as it leaves the launching device, a simple solution to the unambiguity problem of distinguishing between 0 and n radians is obtained.

Enligt ännu ett fördelaktigt forfarande baserat på föregående forfarande bestäms for forsta detekterade minima, utgående från den vid utskjutningsögonblicket bestämda rollvinkeln, om minimat motsvarar O eller n radianer baserat på det eller de vid utskjutningsögonblicket inducerade fälten.According to yet another advantageous method based on the previous method, the first detected minima are determined, based on the roll angle determined at the moment of launch, if the minimum corresponds to 0 or n radians based on the field or fields induced at the moment of launch.

En speciﬁk rotationsvinkel ot for den utskjutbara kroppen efter tidpunkten tnoﬂürl) identiﬁeras som tiden t, där r = 01/360 ~ T, 2 ' At = T, A1 = infinner) - ïnonm; OCh tnomn) representerar tidpunkten efter utskjutningsögonblicket då det n:te minimat i den polariserade bärvågen detekteras.A specific angle of rotation ot for the extendable body after the time tno ﬂ ürl) is identified as the time t, where r = 01/360 ~ T, 2 'At = T, A1 = infinner) - ïnonm; AND tnomn) represents the time after the moment of launch when the nth minimum in the polarized carrier is detected.

Med fordel utgörs de magnetfaltalstrande organen av en forsta och en andra perrnanentmagnet anordnade på utskjutningsröret och 90 grader inbördes vridna relativt utskjutningsrörets symmetriaxel for att generera var sitt magnetfält i en forsta respektive andra radiell riktning genom röret, vilka riktningar är vridna 90 grader. 1 i I' e l E . :i r en 10 15 20 25 30 isis 0284 För att avkänna det a1st'ade magnetfaltet är med fördel den utskjutbara kroppen försedd med magnetfält avkännande organ innefattande en spole och en första och en andra sampel- och hållkrets, vars utsignalnivåer är tillforda en processor.Advantageously, the magnetic field generating means are constituted by a first and a second permanent magnet arranged on the launch tube and 90 degrees mutually rotated relative to the axis of symmetry of the launch tube to generate their respective magnetic fields in a first and second radial direction through the tube, respectively, which directions are rotated 90 degrees. 1 i I 'e l E. In order to sense the generated magnetic field, the extendable body is advantageously provided with magnetic field sensing means comprising a coil and a first and a second sample and hold circuit, the output levels of which are supplied to a processor.

Med fördel innefattar den utskjutbara kroppen vidare medel för detektering av minima i den signal som den utskjutbara kroppen mottar från den i anslutning till utskjutningsanordningen anordnade sändaren och medel för att räkna detekterade minima Medlen för detekteringav minima innefattar därvid enligt ett fördelaktigt utförande en fasdetektor och en professor. Medlen för att räkna detekterade rninima utgörs lämpligen av en processor.Advantageously, the extendable body further comprises means for detecting minima in the signal which the extendable body receives from the transmitter arranged in connection with the launching device and means for counting detected minima. The means for detecting minima then comprise, according to an advantageous embodiment, a phase detector and a professor. . The means for counting detected values are suitably a processor.

Vidare innefattar den utskjutbara kroppen i anordningen enligt uppﬁnningen enligt ett annat fördelaktigt utfö ande medel för tidmätning. Vid en anordning enligt uppfinningen där den qitskjutbara kroppen är försedd med en eller flera styrladdningar, definierar därvid medldn för tidmätning en eller flera styrladdningars samtidiga utlösningstidpunkt bas|Lrat på transmitterad vinkelinformation ot och detekterade rmmma. i l Uppﬁnningen kommer' att beskrivas närmare nedan medelst ett utföringsexempel under hänvisning till bifogad? ritningar, där: Figur 1 visar delar av n utskjutningsanordning i vilken uppﬁnningen kan tillämpas.Furthermore, the extendable body of the device according to the invention according to another advantageous embodiment comprises means for time measurement. In a device according to the invention where the slidable body is provided with one or more control charges, the means for measuring time simultaneously defines the simultaneous tripping time of one or more control charges based on transmitted angular information and detected space. i l The invention will be described in more detail below by means of an exemplary embodiment with reference to the accompanying? drawings, where: Figure 1 shows parts of a launching device in which the invention can be applied.

Figur 2 visar en utskjutbar kropp med magnetfaltavkännande organ och ingående i uppﬁnningen, l Figur 3 visar exempel på en elektronikdel avsedd att ingå i den utskjutbara kroppen.Figure 2 shows an extendable body with magnetic field sensing means and included in the invention, Figure 3 shows an example of an electronic part intended to be included in the extendable body.

I :exempel på spänningar som uppträder i olika delar av I Figur 4a, 4b, 4c visar elektronikdelen enligt uppﬁnningen.I: examples of voltages that occur in different parts of I Figures 4a, 4b, 4c show the electronics part according to the invention.

Figur 5 illustrerar sanrbandet mellan riktningen hos en spole ingående i de magnetfältavkärmand e organen och inducerade spänningspulser.Figure 5 illustrates the relationship between the direction of a coil included in the magnetic field shielding means and induced voltage pulses.

Figur 6a visar exempel på av sändare utsänd signal.Figure 6a shows examples of signals transmitted by transmitters.

Figur 6b visar fasskiﬁ detekterade i den utsända signalen enligt ﬁgur 6a.Figure 6b shows phase skis detected in the transmitted signal according to Figure 6a.

Figur 6c visar exempel på i en mottagare resulterande signalstyrka baserad på signalen enligt ﬁgur 6a. 10 15 20 25 30 513 0285 Figur 7 visar arbetssättet for en i elektronikdelen enligt ﬁgur 3 ingående processor for exekvering av en styrsignal.Figure 6c shows examples of signal strength resulting in a receiver based on the signal according to Figure 6a. Figure 7 shows the mode of operation of a processor included in the electronics part according to Figure 3 for executing a control signal.

Den i ﬁgur 1 delvis visade utskjutningsanordningen 1 innefattar ett utskjutningsrör eller eldrör 2 med en konformad mynning 3. På eldröret är två perrnanentmagneter 4 och 5 anbringade att generera inducerande fält vinkelrätt mot eldrörets symmetriaxel 6 i eldrörets inre. Permanentmagneterna är inbördes vridna 90 grader. En altemativ placering av permanentmagnetema har antytts medelst streckade linjer 7, 8 i eldrörets mynning 3. I anslutning till utskjutningsanordningen 1 ﬁnns även en sändare 20 ansluten till en antenn 9 for utsändning av en polariserad bärvågssignal.The ejection device 1 partly shown in Figure 1 comprises an ejection tube or fire tube 2 with a cone-shaped mouth 3. On the fire tube, two permanent magnets 4 and 5 are arranged to generate inducing fields perpendicular to the axis of symmetry 6 of the fire tube in the interior of the fire tube. The permanent magnets are mutually rotated 90 degrees. An alternative placement of the permanent magnets has been indicated by dashed lines 7, 8 in the mouth of the barrel 3. In connection with the launching device 1, a transmitter 20 is also connected to an antenna 9 for transmitting a polarized carrier signal.

Figur 2 visar en utskjutbar kropp 10 i form av en granat eller liknande avsedd att i utgångsläget vara inrymd i utskjutningsanordningens eldrör 2. I antennens bakre del ﬁnns en mikrovågsantenn 11 avsedd att mottaga den av antennen 9 utsända signalen.Figure 2 shows a extendable body 10 in the form of a grenade or the like intended to be initially housed in the firing tube 2 of the launching device. In the rear part of the antenna there is a microwave antenna 11 intended to receive the signal transmitted by the antenna 9.

Mikrovågsantennen ll är kopplad till ett elektronikblock 12 som kommer att beskrivas närmare under hänvisning till ﬁgur 3. Kroppen 10 inrymmer vidare en spole 13, så kallad pick up-spole, riktad att avkänna radiellt inducerade fält. Spolen 13 är likaså kopplad till elektronikblocket 12.The microwave antenna 11 is connected to an electronics block 12 which will be described in more detail with reference to Figure 3. The body 10 further houses a coil 13, so-called pick-up coil, aimed at sensing radially induced fields. The coil 13 is also connected to the electronics block 12.

I elektronikblocket 12 ingår en fasdetektor 14 vars ingång är ansluten till mikrovågsantennen 11 och vars utgång är kopplad till en processor 15.The electronics block 12 includes a phase detector 14 whose input is connected to the microwave antenna 11 and whose output is connected to a processor 15.

Elektronikblocket innehåller vidare en forsta och en andra hållkrets 16, 17 styrda på ingångama av en gemensam sampelkrets 18. Hållkretsarnas utsignaler tillförs processorn 15, vilken processor har en styrorderutgång 19.The electronics block further comprises a first and a second holding circuit 16, 17 controlled on the inputs of a common sample circuit 18. The output signals of the holding circuits are supplied to the processor 15, which processor has a control order output 19.

Ett utskjutningsforlopp kan tillgå enligt följande. När kroppen eller granaten 10 passerar magnetema 4 och 5 eñer avfyringen induceras spänningspulser u, och u; enligt ﬁgur 4a, som visar inducerad spänning som ﬁmktion av tiden t. Spänningamas toppvärden betecknas därvid ü; resp. üz. Hållkretsarna 16 och 17 visade i ﬁgur 3 lagrar de inducerade spânningama, varvid ﬁgur 4b visar spänningen lagrad i hållkretsen 16 och ﬁgur 4c visar spänningen lagrad i hållkretsen 17. Figur 5 illustrerar sambandet mellan spolens orientering i granaten och de inducerade spänningarna u 1 och uz.A launch process can be available as follows. When the body or grenade 10 passes the magnets 4 and 5 after firing, voltage pulses u, and u are induced; according to Figure 4a, which shows induced voltage as a function of time t. The peak values of the voltages are then designated ü; resp. üz. The holding circuits 16 and 17 shown in Figure 3 store the induced voltages, with Figure 4b showing the voltage stored in the holding circuit 16 and Figure 4c showing the voltage stored in the holding circuit 17. Figure 5 illustrates the relationship between the coil orientation in the grenade and the induced voltages u1 and uz.

Utgângsvinkel oc, beräknas i processorn 15 baserat på sambandet: f 'rev a r . 4___ _ ._.._...__..__...1... .W 10 15 20 25 30 513 02§ oro =arctan üz/ül. Output angle oc, is calculated in the processor 15 based on the relationship: f 'rev a r. 4___ _ ._.._...__..__... 1 ... .W 10 15 20 25 30 513 02§ oro = arctan üz / ül.

Under utskjutningstörltippet skickar sändaren 20 enligt det visade utförandet ut en E- faltspolariserad bärvågi exempelvis med vertikal polarisering. Den i granaten 10 av rnikrovågsantennen ll ifnottagna signalen är visad i ﬁgur 6a. Den mottagna signalen tillförs en fasdetektor 1:4, vars utsignal i princip indikerar minima i den mottagna signalen. En tänkt likiilitad bärvåg skulle se ut såsom visat i ﬁgur 6c och kan matematiskt skrivas u I ü - sin mm - t | , där com. avser granatens rotation. Detta ger en tvetydighet huruvida första minima motsvarar 0 eller n radianer. Med hjälp av den enligt ovan beräknade 1litgångsvinkeln ou, bestämmer processorn 15 om forsta rninima motsvarar 0 eller 1: radjaner. Med hjälp av insignalen från fasdetektorn 14, mäter processorn 15 tiden for granatens rotation och justerar en rotationsräknares 21 klockintervall. I procesjsom 15 visas schematiskt ett block 22 som i samverkan med en oscillator 23 hanterar rzotationsrälcnarens 21 justering. Ett styrkommando som skickas till exempel genom ett ifrekvensskifte av den av sändaren 20 utsända signalens bärvåg och hanteras av ett styrinforrnationsblock 24 ornräknas till motsvarande tidsvärde av rotationen och lagras iíen digital komparator 25. När rotationsräknarens tidsvarde uppnår det i komparatjam lagrade tidsvardet avges en styrsignal på processoms 15 styrorderutgång 19 foj utlösning av en eller ﬂera i granaten anbringade styrladdningar, vilka laddningar vid akItiVering korrigerar granatens kurs. Kurskorrektionens storlek kan påverkas genom Jal av antal styrladdningar som samtidigt aktiveras. En enda utlöst laddning ger normalt 'ndre kurskorrektion än om två intilliggande styrladdningar samtidigt utlöses.Under the firing tip, the transmitter 20 according to the embodiment shown sends out an E-field polarized carrier, for example with vertical polarization. The signal received in the grenade 10 of the microwave antenna 11 is shown in Figure 6a. The received signal is applied to a phase detector 1: 4, the output signal of which in principle indicates minima in the received signal. An imaginary liquid carrier would look as shown in Figure 6c and can be mathematically written u I ü - sin mm - t | , where com. refers to the rotation of the grenade. This gives an ambiguity as to whether the first minima correspond to 0 or n radians. Using the above-calculated angle of incidence ou, the processor 15 determines whether the first currents correspond to 0 or 1 radians. Using the input signal from the phase detector 14, the processor 15 measures the time of the rotation of the grenade and adjusts the clock interval of a rotary counter 21. In process 15, a block 22 is schematically shown which, in cooperation with an oscillator 23, handles the adjustment of the rotation counter 21. A control command sent, for example, by a frequency shift of the carrier of the signal transmitted by the transmitter 20 and handled by a control information block 24 is counted to the corresponding time value of the rotation and stored in a digital comparator 25. When the rotation counter reaches the Control command output 19 for triggering one or more control charges mounted in the grenade, which charges upon activation correct the course of the grenade. The size of the course correction can be affected by Jal by the number of control charges that are activated at the same time. A single triggered charge normally gives a lower course correction than if two adjacent control charges are triggered at the same time.

Om den mottagna signalens nollgenomgångar betecknas tnømn), där n svarar mot den I . U n:te nollgenomgångerï kan tiden mellan den n:te och (n+l):te nollgenomgangama skrivas At = tnorirn-r) - inom) och periodtiden T = 2 ' At. Tiden som motsvarar ot kan då uttryckas som t = 01/3 60 ' T.If the zero crossings of the received signal are denoted tnømn), where n corresponds to the I. In the nth zero crossings, the time between the nth and (n + l) :th zero crossings can be written At = tnorirn-r) - within) and the period time T = 2 'At. The time corresponding to ot can then be expressed as t = 01/3 60 'T.

Claims

10 20 25 30 513 028, Patent claim

A method for determining the roll angle of an extendable body (10), such as a rotating projectile, grenade, robot, etc. which is extendable from a launching device (1), wherein induced fields are used to determine the rolling angle of the extendable body as it leaves the launching device by that at least one inducing field is generated in the launching device and that the inducing field or fields are sensed in the extendable body, characterized in that for roll angle determination communication is established between the launching device (1) and the extendable body (10) during transmission of a polarized body. carrier in connection with the launching device and that the transmitted polarized carrier is detected in the extendable body with respect to rotation dependence.

Method according to claim 1, characterized in that the roll angle of the extendable body (10) at the moment of launch is determined in the extendable body based on the induced field or fields, that minima in the transmitted polarized carrier are detected and counted from the launch time and that a time measurement is started the moment of launch.

Method according to Claim 2, characterized in that the first detected minima are determined, starting from the roll angle determined at the moment of launch, if the minimum corresponds to 0 or rt radians based on the field or fields induced at the moment of launch.

Method according to one of Claims 2 to 3, characterized in that the angle of rotation of the extendable body (10) at the time tmmntl is identified as the time t, where t = (1/360 'T, 2 - A: = T, Ai = comm) - within) Oßh t ﬂ ono.) represents the time after the moment of launch when the nth minimum in the polarized carrier is detected. IN; Il, i1 _... aL__Q, .L_.Q..L_1_. ,, I ~ .. |. <. A1I .una -Iuß-.I Inn-mm -I .., ... i Mitt ... Liu IULL 10 15 20 25 30 I 1 i I; 513 028 I

Device for adjusting the roll angle of a extendable body (10), such as a rotating projectile, grenade, robot, etc. which is extendable from launching tubes (2) included in a launching device (1), which device comprises magnetic field generating means (4, 5). and magnetic field sensing means (13, 16-18) for determining the roll angle of the extendable body when the open (10) leaves the ejection tube (2) of the ejection device, the magnetic producing means (4, 5) being arranged in connection with the ejection tube (2) and that the magnetic field shielding means (13, 16-18) are housed in the extendable body (10), characterized in that a transmitter (20) is arranged in connection with the extension device (1) for communication with the extendable body (10) through transmitting a polarized carrier and that the extendable body comprises a polarization direction sensitive receiver (11, 12) whose polarization direction sensitivity is arranged to follow the extendable body ( 10) rotation.

Device according to claim 5, characterized in that the magnetic field generating means consist of a lozenge and a second permanent magnet (4, 5) arranged on the launch tube (2) and 90 degrees mutually rotated relative to the axis of symmetry of the launch tube to generate their respective magnetic fields in a first respectively other radial direction through the tube,: which directions are rotated 90 degrees. IN

Device according to claim 5, characterized in that the magnetic field shielding means comprise a coil (13) and a first and second sampling and holding circuit (16-18),

Device according to Claim 5, characterized in that the extendable body whose output signal levels are supplied to a processor (1S). (10) comprises means (14, 15) for detecting minima in the signal which the extendable body receives from the transmitter arranged in connection with the launching device and means 16) for counting detected minima.

Device according to claim 8, characterized in that the means for detecting the monitors comprise a phase detector (14) and a processor (15). 10 513 0289

Device according to Claim 8 or 9, characterized in that the means for counting detected minima consist of a processor (15).

11. ll. Device according to one of the preceding claims 5-10, characterized in that the extendable body (10) comprises means (21-23) for measuring time.

Device according to claim 11, wherein the extendable body (10) is provided with one or ﬂ your control charges, characterized in that the means (21-23) for time measurement are arranged so that based on transmitted angular irradiation o: for one or ﬂ your control charge simultaneous activation and detected minimum de ﬁ niere control charge tripping time.